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<div class="title">pcl::io::PointCloudImageExtractor&lt; PointT &gt; 模板类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>Base <a class="el" href="classpcl_1_1io_1_1_image.html" title="Image interface class providing an interface to fill a RGB or Grayscale image buffer.">Image</a> Extractor class for organized point clouds.  
 <a href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="point__cloud__image__extractors_8h_source.html">point_cloud_image_extractors.h</a>&gt;</code></p>
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类 pcl::io::PointCloudImageExtractor&lt; PointT &gt; 继承关系图:</div>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html">PointCloudImageExtractor</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html">PointCloudImageExtractor</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#ae987186cc53a9f64aad1dcda2a13ba78">PointCloudImageExtractor</a> ()</td></tr>
<tr class="memdesc:ae987186cc53a9f64aad1dcda2a13ba78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:ae6ce61e7b0a7605fb0e83fad34bfddef"><td class="memItemLeft" align="right" valign="top"><a id="ae6ce61e7b0a7605fb0e83fad34bfddef"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#ae6ce61e7b0a7605fb0e83fad34bfddef">~PointCloudImageExtractor</a> ()</td></tr>
<tr class="memdesc:ae6ce61e7b0a7605fb0e83fad34bfddef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ae6ce61e7b0a7605fb0e83fad34bfddef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3dbbc4969d34b82f348ebab3df13ae62"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a3dbbc4969d34b82f348ebab3df13ae62">extract</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <a class="el" href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a> &amp;image) const</td></tr>
<tr class="memdesc:a3dbbc4969d34b82f348ebab3df13ae62"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the image from the given cloud.  <a href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a3dbbc4969d34b82f348ebab3df13ae62">更多...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a6196d303c62c454850f539ca95ed14c6">setPaintNaNsWithBlack</a> (bool flag)</td></tr>
<tr class="memdesc:a6196d303c62c454850f539ca95ed14c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a flag that controls if image pixels corresponding to NaN (infinite) points should be painted black. <br /></td></tr>
<tr class="separator:a6196d303c62c454850f539ca95ed14c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Protected 成员函数</h2></td></tr>
<tr class="memitem:a24c18c3aab178deeb5cb36e65d910a2f"><td class="memItemLeft" align="right" valign="top"><a id="a24c18c3aab178deeb5cb36e65d910a2f"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a24c18c3aab178deeb5cb36e65d910a2f">extractImpl</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <a class="el" href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a> &amp;image) const =0</td></tr>
<tr class="memdesc:a24c18c3aab178deeb5cb36e65d910a2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the <a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a3dbbc4969d34b82f348ebab3df13ae62" title="Obtain the image from the given cloud.">extract()</a> function, has to be implemented in deriving classes. <br /></td></tr>
<tr class="separator:a24c18c3aab178deeb5cb36e65d910a2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Protected 属性</h2></td></tr>
<tr class="memitem:ac9b2dd4420ca580c80d60b1bc97881bc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#ac9b2dd4420ca580c80d60b1bc97881bc">paint_nans_with_black_</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::io::PointCloudImageExtractor&lt; PointT &gt;</h3>

<p>Base <a class="el" href="classpcl_1_1io_1_1_image.html" title="Image interface class providing an interface to fill a RGB or Grayscale image buffer.">Image</a> Extractor class for organized point clouds. </p>
<p>This is an abstract class that declares an interface for image extraction from organized point clouds. The family of its subclasses provide functionality to extract images from particular fields.</p>
<p>The following piece of code demonstrates typical usage of a <a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html" title="Base Image Extractor class for organized point clouds.">PointCloudImageExtractor</a> subclass. Here the data are extracted from the "label" field and are saved as a PNG image file.</p>
<div class="fragment"><div class="line"><span class="comment">// Source point cloud (needs to be filled with data of course)</span></div>
<div class="line"><a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZLabel&gt;</a> cloud;</div>
<div class="line"><span class="comment">// Target image</span></div>
<div class="line"><a class="code" href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a> image;</div>
<div class="line"><span class="comment">// Create PointCloudImageExtractor subclass that can handle &quot;label&quot; field</span></div>
<div class="line"><a class="code" href="classpcl_1_1io_1_1_point_cloud_image_extractor_from_label_field.html">pcl::io::PointCloudImageExtractorFromLabelField&lt;pcl::XYZLabel&gt;</a> pcie;</div>
<div class="line"><span class="comment">// Set it up if not happy with the defaults</span></div>
<div class="line">pcie.<a class="code" href="classpcl_1_1io_1_1_point_cloud_image_extractor_from_label_field.html#a9cfe4bb12ede8ba14b6b6b52ff632f17">setColorMode</a>(pcie.<a class="code" href="classpcl_1_1io_1_1_point_cloud_image_extractor_from_label_field.html#a859f8840d09347ef9e285337c879beccaaa4d2eed6059eb776422a2173166aaab">COLORS_RGB_RANDOM</a>);</div>
<div class="line"><span class="comment">// Try to extract an image</span></div>
<div class="line"><span class="keywordtype">bool</span> success = pcie.<a class="code" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a3dbbc4969d34b82f348ebab3df13ae62">extract</a>(cloud, image);</div>
<div class="line"><span class="comment">// Save to file if succeeded</span></div>
<div class="line"><span class="keywordflow">if</span> (success)</div>
<div class="line">  pcl::io::saveImage (<span class="stringliteral">&quot;filename.png&quot;</span>, image);</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_point_cloud_image_extractor_from_label_field_html"><div class="ttname"><a href="classpcl_1_1io_1_1_point_cloud_image_extractor_from_label_field.html">pcl::io::PointCloudImageExtractorFromLabelField</a></div><div class="ttdoc">Image Extractor which uses the data present in the &quot;label&quot; field to produce either monochrome or RGB ...</div><div class="ttdef"><b>Definition:</b> point_cloud_image_extractors.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_point_cloud_image_extractor_from_label_field_html_a859f8840d09347ef9e285337c879beccaaa4d2eed6059eb776422a2173166aaab"><div class="ttname"><a href="classpcl_1_1io_1_1_point_cloud_image_extractor_from_label_field.html#a859f8840d09347ef9e285337c879beccaaa4d2eed6059eb776422a2173166aaab">pcl::io::PointCloudImageExtractorFromLabelField::COLORS_RGB_RANDOM</a></div><div class="ttdeci">@ COLORS_RGB_RANDOM</div><div class="ttdoc">Randomly generated RGB colors</div><div class="ttdef"><b>Definition:</b> point_cloud_image_extractors.h:274</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_point_cloud_image_extractor_from_label_field_html_a9cfe4bb12ede8ba14b6b6b52ff632f17"><div class="ttname"><a href="classpcl_1_1io_1_1_point_cloud_image_extractor_from_label_field.html#a9cfe4bb12ede8ba14b6b6b52ff632f17">pcl::io::PointCloudImageExtractorFromLabelField::setColorMode</a></div><div class="ttdeci">void setColorMode(const ColorMode color_mode)</div><div class="ttdoc">Set color mapping mode.</div><div class="ttdef"><b>Definition:</b> point_cloud_image_extractors.h:291</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_point_cloud_image_extractor_html_a3dbbc4969d34b82f348ebab3df13ae62"><div class="ttname"><a href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a3dbbc4969d34b82f348ebab3df13ae62">pcl::io::PointCloudImageExtractor::extract</a></div><div class="ttdeci">bool extract(const PointCloud &amp;cloud, pcl::PCLImage &amp;image) const</div><div class="ttdoc">Obtain the image from the given cloud.</div><div class="ttdef"><b>Definition:</b> point_cloud_image_extractors.hpp:51</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_image_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a></div><div class="ttdef"><b>Definition:</b> PCLImage.h:17</div></div>
</div><!-- fragment --><dl class="section author"><dt>作者</dt><dd>Sergey Alexandrov </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a3dbbc4969d34b82f348ebab3df13ae62"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3dbbc4969d34b82f348ebab3df13ae62">&#9670;&nbsp;</a></span>extract()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html">pcl::io::PointCloudImageExtractor</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::extract </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a> &amp;&#160;</td>
          <td class="paramname"><em>image</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Obtain the image from the given cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>organized point cloud to extract image from </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">image</td><td>the output image </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if the operation was successful, false otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (!cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> () || cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">bool</span> result = this-&gt;<a class="code" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a24c18c3aab178deeb5cb36e65d910a2f">extractImpl</a> (cloud, img);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#ac9b2dd4420ca580c80d60b1bc97881bc">paint_nans_with_black_</a> &amp;&amp; result)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">size_t</span> size = img.encoding == <span class="stringliteral">&quot;mono16&quot;</span> ? 2 : 3;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">if</span> (!pcl::isFinite (cloud[i]))</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        std::memset (&amp;img.data[i * size], 0, size);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a914dbcef25abdb46f32991ac112002e7"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">pcl::PointCloud::isOrganized</a></div><div class="ttdeci">bool isOrganized() const</div><div class="ttdoc">Return whether a dataset is organized (e.g., arranged in a structured grid).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_point_cloud_image_extractor_html_a24c18c3aab178deeb5cb36e65d910a2f"><div class="ttname"><a href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#a24c18c3aab178deeb5cb36e65d910a2f">pcl::io::PointCloudImageExtractor::extractImpl</a></div><div class="ttdeci">virtual bool extractImpl(const PointCloud &amp;cloud, pcl::PCLImage &amp;image) const =0</div><div class="ttdoc">Implementation of the extract() function, has to be implemented in deriving classes.</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_point_cloud_image_extractor_html_ac9b2dd4420ca580c80d60b1bc97881bc"><div class="ttname"><a href="classpcl_1_1io_1_1_point_cloud_image_extractor.html#ac9b2dd4420ca580c80d60b1bc97881bc">pcl::io::PointCloudImageExtractor::paint_nans_with_black_</a></div><div class="ttdeci">bool paint_nans_with_black_</div><div class="ttdef"><b>Definition:</b> point_cloud_image_extractors.h:121</div></div>
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<h2 class="groupheader">类成员变量说明</h2>
<a id="ac9b2dd4420ca580c80d60b1bc97881bc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac9b2dd4420ca580c80d60b1bc97881bc">&#9670;&nbsp;</a></span>paint_nans_with_black_</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1io_1_1_point_cloud_image_extractor.html">pcl::io::PointCloudImageExtractor</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::paint_nans_with_black_</td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>A flag that controls if image pixels corresponding to NaN (infinite) points should be painted black. </p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>io/include/pcl/io/<a class="el" href="point__cloud__image__extractors_8h_source.html">point_cloud_image_extractors.h</a></li>
<li>io/include/pcl/io/impl/<a class="el" href="point__cloud__image__extractors_8hpp_source.html">point_cloud_image_extractors.hpp</a></li>
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